/****************************************************************************
 *
 *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file board_config.h
 *
 * UVify Core internal definitions
 */

#pragma once

/****************************************************************************************************
 * Included Files
 ****************************************************************************************************/

#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>

/****************************************************************************************************
 * Definitions
 ****************************************************************************************************/
/* Configuration ************************************************************************************/

/* UVify Core GPIOs ***********************************************************************************/
/* LEDs */
#define GPIO_LED1                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
#define GPIO_LED2                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
#define GPIO_LED3                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)

#define GPIO_LED_RED                 GPIO_LED1
#define GPIO_LED_GREEN               GPIO_LED2
#define GPIO_LED_BLUE                GPIO_LED3

#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED     LED_RED
#define BOARD_ARMED_LED        LED_BLUE
#define BOARD_ARMED_STATE_LED  LED_GREEN

/**
 * The MPU9250 is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
 */
#define GPIO_SPI1_CS_PORTC_PIN2      (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)

/**
 * The ICM20608G is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
 */
#define GPIO_SPI1_CS_PORTC_PIN15     (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)

/**
 * Reserved. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
 */
#define GPIO_SPI1_CS_PORTE_PIN15     (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)

/* Define the Data Ready interrupts On SPI 1. */
#define GPIO_DRDY_PORTD_PIN15        (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_DRDY_PORTC_PIN14        (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define GPIO_DRDY_PORTE_PIN12        (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)


/* Define the Chip Selects for SPI2. */
#define GPIO_SPI2_CS_MS5611          (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI2_CS_FRAM            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)

/* Define the Chip Selects for SPI4. */

#ifdef CONFIG_STM32_SPI4
#  define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
#  define GPIO_SPI4_CS_1         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)  //ESP_RTS_PIN
#endif /* CONFIG_STM32_SPI4 */
/**
 * Define the ability to shut off off the sensor signals
 * by changing the signals to inputs.
 */
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))

/* SPI 1 bus off. */
#define GPIO_SPI1_SCK_OFF            _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF           _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF           _PIN_OFF(GPIO_SPI1_MOSI)

/* SPI 1 CS's  off. */
#define GPIO_SPI1_CS_OFF_PORTC_PIN2  _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2)
#define GPIO_SPI1_CS_OFF_PORTC_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15)
#define GPIO_SPI1_CS_OFF_PORTE_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15)

/* SPI 1 DRDY's off. */
#define GPIO_DRDY_OFF_PORTD_PIN15    _PIN_OFF(GPIO_DRDY_PORTD_PIN15)
#define GPIO_DRDY_OFF_PORTC_PIN14    _PIN_OFF(GPIO_DRDY_PORTC_PIN14)
#define GPIO_DRDY_OFF_PORTE_PIN12    _PIN_OFF(GPIO_DRDY_PORTE_PIN12)

/* SPI 4 bus off. */
#ifdef CONFIG_STM32_SPI4
#  define GPIO_SPI4_SCK_OFF          _PIN_OFF(GPIO_SPI4_SCK)
#  define GPIO_SPI4_MISO_OFF         _PIN_OFF(GPIO_SPI4_MISO)
#  define GPIO_SPI4_MOSI_OFF         _PIN_OFF(GPIO_SPI4_MOSI)
#endif /* CONFIG_STM32_SPI4 */

/**
 * N.B we do not have control over the SPI 2 buss powered devices
 * so the the ms5611 is not resetable.
 *
 */

#define PX4_SPI_BUS_SENSORS          1
#define PX4_SPI_BUS_RAMTRON          2
#define PX4_SPI_BUS_BARO             PX4_SPI_BUS_RAMTRON

#ifdef CONFIG_STM32_SPI4
#  define PX4_SPI_BUS_EXTERNAL       4
/* The mask passes to init the SPI bus pins
 * N.B This works ONLY with buss numbers that are powers of 2
 * Adding SPI3 would break this!
 */
#  define   SPI_BUS_INIT_MASK_EXT     PX4_SPI_BUS_EXTERNAL
#endif /* CONFIG_STM32_SPI4 */

#define SPI_BUS_INIT_MASK        (PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_SENSORS)

/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO              PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_ACCEL_MAG         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
#define PX4_SPIDEV_MPU               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
#define PX4_SPIDEV_HMC               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 5)
#define PX4_SPIDEV_ICM               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 6)
#define PX4_SPIDEV_LIS               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 7)
#define PX4_SPIDEV_BMI               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 8)
#define PX4_SPIDEV_BMA               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 9)
#define PX4_SPIDEV_ICM_20608         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 10)
#define PX4_SPIDEV_ICM_20602         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 11)
#define PX4_SPIDEV_BMI055_ACC        PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 12)
#define PX4_SPIDEV_BMI055_GYR        PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 13)
#define PX4_SPIDEV_MPU2              PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)

/**
 * Onboard MS5611 and FRAM are both on bus SPI2.
 * spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver.
 * PX4_MK_SPI_SEL  differentiate by adding in PX4_SPI_DEVICE_ID.
 */
#define PX4_SPIDEV_BARO             PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO, 3)

#ifdef CONFIG_STM32_SPI4
#  define PX4_SPIDEV_EXTERNAL       PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL, 1)
#endif /* CONFIG_STM32_SPI4 */

/* I2C busses. */
#define PX4_I2C_BUS_EXPANSION        1
#define PX4_I2C_BUS_LED              PX4_I2C_BUS_EXPANSION

/**
 * Devices on the external bus.
 * Note that these are unshifted addresses.
 */
#define PX4_I2C_OBDEV_BMP280         0x76

/**
 * ADC channels:
 * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver.
 */
#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)

/* ADC defines to be used in sensors.cpp to read from a particular channel. */
#define ADC_BATTERY_VOLTAGE_CHANNEL  2
#define ADC_BATTERY_CURRENT_CHANNEL  3
#define ADC_5V_RAIL_SENSE            4
#define ADC_RC_RSSI_CHANNEL          11

/* Define Battery 1 Voltage Divider and A per V. */
#define BOARD_BATTERY1_V_DIV         (10.14f)
#define BOARD_BATTERY1_A_PER_V       (18.18f)


/**
 * User GPIOs:
 * GPIO0-5 are the PWM servo outputs.
 */
#define GPIO_GPIO0_INPUT             (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_INPUT             (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_INPUT             (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_INPUT             (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_INPUT             (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_INPUT             (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)

#define GPIO_GPIO0_OUTPUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_OUTPUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_OUTPUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_OUTPUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_OUTPUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_OUTPUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)

/* Power supply control and monitoring GPIOs. */
#define GPIO_VDD_BRICK_VALID         (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_USB_VALID           (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
#define GPIO_VDD_3V3_SENSORS_EN      (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)

/* Tone alarm output. */
#define TONE_ALARM_TIMER             2    /* timer 2 */
#define TONE_ALARM_CHANNEL           1    /* channel 1 */
#define GPIO_TONE_ALARM_IDLE         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TONE_ALARM              (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)

/**
 * PWM:
 *
 * Six PWM outputs are configured.
 *
 * Pins:
 *
 * CH1 : PE14 : TIM1_CH4
 * CH2 : PE13 : TIM1_CH3
 * CH3 : PE11 : TIM1_CH2
 * CH4 : PE9  : TIM1_CH1
 * CH5 : PD13 : TIM4_CH2
 * CH6 : PD14 : TIM4_CH3
 */

/**
 * N.B. the added pull down, on the timer being disabled the PD
 * will keep the channel low
 */
#define GPIO_TIM1_CH1OUT             (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
#define GPIO_TIM1_CH2OUT             (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
#define GPIO_TIM1_CH3OUT             (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
#define GPIO_TIM1_CH4OUT             (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN14)
#define GPIO_TIM4_CH2OUT             (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
#define GPIO_TIM4_CH3OUT             (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
#define DIRECT_PWM_OUTPUT_CHANNELS   6

#define GPIO_TIM1_CH1IN              GPIO_TIM1_CH1IN_2
#define GPIO_TIM1_CH2IN              GPIO_TIM1_CH2IN_2
#define GPIO_TIM1_CH3IN              GPIO_TIM1_CH3IN_2
#define GPIO_TIM1_CH4IN              GPIO_TIM1_CH4IN_2
#define GPIO_TIM4_CH2IN              GPIO_TIM4_CH2IN_2
#define GPIO_TIM4_CH3IN              GPIO_TIM4_CH3IN_2
#define DIRECT_INPUT_TIMER_CHANNELS  6

/**
 * USB OTG FS:
 * PA9  OTG_FS_VBUS VBUS sensing.
 */
#define GPIO_OTGFS_VBUS              (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)

/* High-resolution timer */
#define HRT_TIMER                    3  /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */

#define HRT_PPM_CHANNEL              3  /* use capture/compare channel 3 */
#define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

/* RC Serial port */

#define RC_SERIAL_PORT               "/dev/ttyS4"

/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
#define PWMIN_TIMER                  4
#define PWMIN_TIMER_CHANNEL          2
#define GPIO_PWM_IN                  GPIO_TIM4_CH2IN_2

#define GPIO_RSSI_IN                 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
#define GPIO_LED_SAFETY              (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
#define GPIO_PERIPH_3V3_EN           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)

/* For,this signal is active high. */
#define GPIO_SBUS_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)

#define GPIO_SPEKTRUM_PWR_EN         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)

/* GPIOs */
#define GPIO_PE2	             (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
#define GPIO_PB4                     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
#define GPIO_PE5                     (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
#define GPIO_PE6                     (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)

/* Heater pins (reserved) */
#define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
#define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)

/* Power switch controls */

#define SPEKTRUM_POWER(_on_true)     px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))

/**
 * UVify Core has separate RC_IN
 *
 * GPIO PPM_IN on PB0 T3C3
 * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
 * Inversion is possible via the 74LVC2G86 controlled by the FMU
 * The FMU can drive  GPIO PPM_IN as an output
 */

#define GPIO_PPM_IN_AS_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART()       /* Can be left as uart */
#define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

/**
 * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
 * this board support the ADC system_power interface, and therefore
 * provides the true logic GPIO BOARD_ADC_xxxx macros.
 */
#define BOARD_ADC_USB_CONNECTED      (px4_arch_gpioread(GPIO_OTGFS_VBUS))
#define BOARD_ADC_BRICK_VALID        (px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
#define BOARD_ADC_USB_VALID          (px4_arch_gpioread(GPIO_VDD_USB_VALID))
#define BOARD_ADC_SERVO_VALID        (1)
#define BOARD_ADC_PERIPH_5V_OC       (0)
#define BOARD_ADC_HIPOWER_5V_OC      (0)

#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS

/* This board provides a DMA pool and APIs. */
#define BOARD_DMA_ALLOC_POOL_SIZE    5120

#define BOARD_HAS_ON_RESET 1

#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

#define BOARD_ENABLE_CONSOLE_BUFFER
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)

__BEGIN_DECLS

/****************************************************************************************************
 * Public Types
 ****************************************************************************************************/

/****************************************************************************************************
 * Public data
 ****************************************************************************************************/

#ifndef __ASSEMBLY__

/****************************************************************************************************
 * Public Functions
 ****************************************************************************************************/

/****************************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
 *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
 *
 *   mask - is bus selection
 *   1 - 1 << 0
 *   2 - 1 << 1
 *
 ****************************************************************************************************/

extern void stm32_spiinitialize(int mask);
void board_spi_reset(int ms);

extern void stm32_usbinitialize(void);

extern void board_peripheral_reset(int ms);

#include <px4_platform_common/board_common.h>

#endif /* __ASSEMBLY__ */

__END_DECLS
